Introduction to Manipulators

Berke Gür

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Manipulators
• What is a manipulator?

“A manipulator is the principle mechanical component of an industrial robot

designed to perform a specific task with materials and parts using specialized tools.”

… or simply “a computer controlled mechanical arm”

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Components of Manipulators
• A fixed base where the manipulator is Joints
Joints
attached
• A chain of links connected to the base
and to each other through joints
• An end-effector at the end of the link
chain to which the specialized tools are
attached
End-Effector

Links

Base

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Types of Linkages

Serial Linkages Parallel Linkages Hybrid Linkages

Larger workspace Smaller workspace
Smaller payload Larger payload
Compromise between
Less Precise Position More precise position serial and parallel linkages
Control control
Easy to analyze Difficult to analyze

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Hybrid Manipulators

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Types of Joints
• Several different types of joints exist
for connecting two links
• We will mainly be interested with 1
DOF revolute (R) & prismatic (P) joints
• The configuration of 1 DOF joints are
mathematically described using 1
variable
• A N DOF joint can be broken down to
N 1-DOF joints

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Describing Manipulators
• Manipulators also have DOFs
• For a manipulator to have N DOFs we need N 1-DOF joints (numbered i = 1, 2, …,
N) & N+1 links (numbered i = 0, 1 , 2, …, N including the fixed base as link 0)
• The configuration of a N DOF manipulator is described by a set of N joint variables qi
(each qi is either a θ or d variable)
• A rigid object can be described using 3 position & 3 orientation (in total 6) DOFs in
space
• If a manipulator has more than 6 DOFs, it is called a redundant manipulator

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Describing Manipulators

2-Bar Serial Mechanism

(RPRP)

Prismatic Joints (P)

Revolute Joints (R)

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Describing Manipulators
• The Puma 560 manipulator
– Serial, parallel or hybrid?
– How many DOFs?
– Joint configuration?
– Where are the links & joints?

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Manipulators vs. Mobile Robots – Workspace
• In contrast to mobile robots, manipulators are attached to a fixed base and have a
limited workspace.
• The workspace of a manipulator is defined as the volume of space that the end-
effector can reach.
– The reachable workspace is the set of points in space that the manipulator can reach with at
least 1 configuration
– The dexterous workspace is the set of points in space that the manipulator can reach with any
arbitrary orientation

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Types of Manipulators

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Workspaces of Different Manipulators

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The End-Effector, Gripper & Tool
• The end-effector is generally the flange-like part of
the robot at the tip
• Grippers or robotic hands are attached to the end-
effector
• Simple grippers only open & close
• Grippers may incorporate force sensors for
measuring & controlling squeezing forces
• Significant research effort is devoted to
anthropomorphic hands

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Applications of Manipulators
• Material Handling: Machine loading, material dispensing/removal, packaging, press
tending, etc.
• Welding
• Other: Sealing, drilling, grinding, painting, polishing, coating, assembly, etc.

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Robotics Today

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Robotics Today

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Robotics Today

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Robotics Today

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Robotics Today

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Robotics Today

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Next Lecture
• Lecture topics
– Spatial Descriptions & Transformations
• Reading assignment: Ch.2 in textbook
• Questions?

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